For an overview of how the vlan-aware (vlan-filtering=yes) bridge works, there are two threads to start with:
RouterOS bridge mysteries explained This shows the logical equivalent (router, and switch connected with hybrid link)
Using RouterOS to VLAN your network This is the same as what 404Network posted as the “reference link”
These are both good, but you have to read many posts, but there are some extract .rsc files for specific applications.
If you really want to know how the vlan-aware bridge works, I recently found the official documentation, and I was quite impressed by the depth this topic is covered. I highly recommend reading these if you really want to understand what is happening. Kudos to the tech writer.
Bridge VLAN Filtering good overview
Bridge VLAN Table very detailed information, although there are some places where they don’t specify whether bridge vlan or bridge port command should be used, but you can determine this by trying and using tab completion to see possible completions.
But I think it is very good documentation, with multiple example cases, including using non-default management vlan with tagged access.